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#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_H_
#define TRAJECTORY_ROLLOUT_TRAJECTORY_H_

#include <vector>

namespace base_local_planner
{
/**
 * @class Trajectory
 * @brief Holds a trajectory generated by considering an x, y, and theta velocity
 */
class Trajectory
{
public:
    /**
     * @brief  Default constructor
     */
    Trajectory();

    /**
     * @brief  Constructs a trajectory
     * @param xv The x velocity used to seed the trajectory
     * @param yv The y velocity used to seed the trajectory
     * @param thetav The theta velocity used to seed the trajectory
     * @param num_pts The expected number of points for a trajectory
     */
    Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts);

    /**
     * @brief  Get a point within the trajectory 获取局部轨迹某个点的信息
     * @param index The index of the point to get 获取点的id
     * @param x Will be set to the x position of the point x坐标
     * @param y Will be set to the y position of the point 坐标
     * @param th Will be set to the theta position of the point 该点朝向
     */
    void getPoint(unsigned int index, double &x, double &y, double &th) const;

    /**
     * @brief  Set a point within the trajectory 设置局部轨迹的某个点
     * @param index The index of the point to set 被设置点的id
     * @param x The x position  x 坐标
     * @param y The y position y 坐标
     * @param th The theta position 朝向
     */
    void setPoint(unsigned int index, double x, double y, double th);

    /**
     * @brief  Add a point to the end of a trajectory
     * @param x The x position
     * @param y The y position
     * @param th The theta position
     */
    void addPoint(double x, double y, double th);

    /**
     * @brief  Get the last point of the trajectory
     * @param x Will be set to the x position of the point
     * @param y Will be set to the y position of the point
     * @param th Will be set to the theta position of the point
     */
    void getEndpoint(double &x, double &y, double &th) const;

    /**
     * @brief  Clear the trajectory's points
     */
    void resetPoints();

    /**
     * @brief  Return the number of points in the trajectory
     * @return The number of points in the trajectory
     */
    unsigned int getPointsSize() const { return x_pts_.size(); }

    double xv_, yv_, thetav_; ///< @brief The x, y, and theta velocities of the trajectory
    double cost_; ///< @brief The cost/score of the trajectory
    double time_delta_; ///< @brief The time gap between points

private:
    std::vector<double> x_pts_; ///< @brief The x points in the trajectory
    std::vector<double> y_pts_; ///< @brief The y points in the trajectory
    std::vector<double> th_pts_; ///< @brief The theta points in the trajectory

};
};
#endif
